Puncture path planning method and related products

Abstract

The application discloses a puncture path planning method and related products. The method comprises: the puncture path planning method is used for planning a first puncture path for a target organ, and the method comprises: acquiring a to-be-processed image and a first conversion relationship; the to-be-processed image comprises a needle insertion point of the target organ, and the first conversion relationship is a conversion relationship between a pixel coordinate system of the to-be-processed image and a world coordinate system; a first position of the needle insertion point in the to-be-processed image is converted according to the first conversion relationship, so that a second position of the needle insertion point in the world coordinate system is obtained; a third position of a lesion target point of the target organ in the world coordinate system is acquired; and a first puncture path of the target organ is obtained according to the second position and the third position.

Description

Technical Field

[0001] This application relates to the field of medical image processing technology, and in particular to a puncture path planning method and related products. Background Technology

[0002] In the medical field, puncture is frequently used to remove lesions from target organs. Before performing a puncture on a target organ, it is necessary to plan the puncture path. Therefore, how to plan the puncture path for a target organ is of great importance. Summary of the Invention

[0003] This application provides a puncture path planning method and related products.

[0004] Firstly, a puncture path planning method is provided. The puncture path planning method is used to plan a first puncture path for a target organ, and the method includes:

[0005] Obtain the image to be processed and the first transformation relationship; the image to be processed includes the needle insertion point of the target organ, and the first transformation relationship is the transformation relationship between the pixel coordinate system and the world coordinate system of the image to be processed;

[0006] Based on the first transformation relationship, the first position of the needle insertion point in the image to be processed is transformed to obtain the second position of the needle insertion point in the world coordinate system;

[0007] Obtain the third position of the lesion target point of the target organ in the world coordinate system;

[0008] Based on the second position and the third position, the first puncture path of the target organ is obtained.

[0009] In conjunction with any embodiment of this application, after obtaining the first puncture path of the target organ, the method further includes:

[0010] Acquire a three-dimensional computed tomography (CT) image and a second transformation relationship, wherein the three-dimensional CT image includes the target organ, and the second transformation relationship is the transformation relationship between the pixel coordinate system of the three-dimensional CT image and the world coordinate system;

[0011] The second position is converted according to the second conversion relationship to obtain the fourth position of the needle insertion point in the three-dimensional CT image;

[0012] The third position is transformed according to the second transformation relationship to obtain the fifth position of the lesion target in the three-dimensional CT image;

[0013] Based on the fourth and fifth positions, the second puncture path of the target organ in the three-dimensional CT image is obtained.

[0014] In conjunction with any embodiment of this application, obtaining the second conversion relationship includes:

[0015] Acquire a three-dimensional ultrasound image, the three-dimensional ultrasound image including the target organ, the pixel coordinate system of the three-dimensional ultrasound image being the same as the world coordinate system;

[0016] The second transformation relationship is obtained by aligning the target organ in the three-dimensional CT image to the target organ in the three-dimensional ultrasound image.

[0017] In any embodiment of this application, the cross-sectional image of the three-dimensional CT image includes the target CT image. After obtaining the second puncture path of the target organ in the three-dimensional CT image, the method further includes:

[0018] Determine the trajectory points of the second puncture path in the target CT image;

[0019] The trajectory points and the lesion target points are displayed in the target CT image.

[0020] In any embodiment of this application, before acquiring the image to be processed and the first transformation relationship, the method further includes:

[0021] Obtain the third puncture path and needle insertion area of ​​the target organ, wherein the needle insertion area is a candidate area for the needle insertion point;

[0022] The step of obtaining the image to be processed and the first transformation relationship includes:

[0023] If the third puncture path is determined to be an infeasible path based on the needle insertion area, the image to be processed and the first conversion relationship are obtained.

[0024] In any embodiment of this application, determining that the third puncture path is an infeasible path based on the needle-accessible area includes:

[0025] If the third puncture path does not intersect with the needle insertion area, the third puncture path is determined to be an infeasible path.

[0026] In conjunction with any embodiment of this application, acquiring the image to be processed includes:

[0027] Upon detecting an instruction to replan the puncture path of the target organ, an ultrasound image obtained by scanning the puncture point with an ultrasound probe is acquired as the image to be processed.

[0028] In any embodiment of this application, the target organ belongs to the target person; obtaining the needle-accessible area includes:

[0029] The skin area of ​​the target person scanned by the ultrasound probe is used as the needle insertion area.

[0030] Secondly, a puncture path planning device is provided. The puncture path planning device is used to plan a first puncture path for a target organ, and the puncture path planning device includes:

[0031] An acquisition unit is used to acquire an image to be processed and a first transformation relationship; the image to be processed includes the needle insertion point of the target organ, and the first transformation relationship is the transformation relationship between the pixel coordinate system and the world coordinate system of the image to be processed;

[0032] A conversion unit is used to convert the first position of the needle insertion point in the image to be processed according to the first conversion relationship, so as to obtain the second position of the needle insertion point in the world coordinate system.

[0033] The acquisition unit is used to acquire the third position of the lesion target point of the target organ in the world coordinate system;

[0034] The processing unit is configured to obtain a first puncture path for the target organ based on the second position and the third position.

[0035] In any embodiment of this application, the acquisition unit is further configured to acquire a three-dimensional CT image and a second transformation relationship, wherein the three-dimensional CT image includes the target organ, and the second transformation relationship is the transformation relationship between the pixel coordinate system of the three-dimensional CT image and the world coordinate system;

[0036] The conversion unit is further configured to convert the second position according to the second conversion relationship to obtain the fourth position of the needle insertion point in the three-dimensional CT image;

[0037] The conversion unit is further configured to convert the third position according to the second conversion relationship to obtain the fifth position of the lesion target in the three-dimensional CT image;

[0038] The processing unit is further configured to obtain a second puncture path of the target organ in the three-dimensional CT image based on the fourth position and the fifth position.

[0039] In conjunction with any embodiment of this application, the acquisition unit is specifically used for:

[0040] Acquire a three-dimensional ultrasound image, the three-dimensional ultrasound image including the target organ, the pixel coordinate system of the three-dimensional ultrasound image being the same as the world coordinate system;

[0041] The second transformation relationship is obtained by aligning the target organ in the three-dimensional CT image to the target organ in the three-dimensional ultrasound image.

[0042] In any embodiment of this application, the cross-sectional image of the three-dimensional CT image includes the target CT image, and the puncture path planning device further includes:

[0043] The determining unit is used to determine the trajectory points of the second puncture path in the target CT image;

[0044] The display unit is used to display the trajectory points and the lesion target points in the target CT image.

[0045] In conjunction with any embodiment of this application, the acquisition unit is further configured to:

[0046] Obtain the third puncture path and needle insertion area of ​​the target organ, wherein the needle insertion area is a candidate area for the needle insertion point;

[0047] If the third puncture path is determined to be an infeasible path based on the needle insertion area, the image to be processed and the first conversion relationship are obtained.

[0048] In conjunction with any embodiment of this application, the acquisition unit is specifically used for:

[0049] If the third puncture path does not intersect with the needle insertion area, the third puncture path is determined to be an infeasible path.

[0050] In conjunction with any embodiment of this application, the acquisition unit is specifically used for:

[0051] Upon detecting an instruction to replan the puncture path of the target organ, an ultrasound image obtained by scanning the puncture point with an ultrasound probe is acquired as the image to be processed.

[0052] In any embodiment of this application, the target organ belongs to the target person; the acquisition unit is specifically used for:

[0053] The skin area of ​​the target person scanned by the ultrasound probe is used as the needle insertion area.

[0054] Thirdly, an electronic device is provided, characterized in that it comprises: a processor and a memory, the memory being used to store computer program code, the computer program code including computer instructions, wherein, when the processor executes the computer instructions, the electronic device performs a method as described in the first aspect above and any possible implementation thereof.

[0055] Fourthly, another electronic device is provided, comprising: a processor, a transmitting device, an input device, an output device, and a memory, the memory being used to store computer program code, the computer program code including computer instructions, wherein, when the processor executes the computer instructions, the electronic device performs the method as described in the first aspect above and any possible implementation thereof.

[0056] Fifthly, a computer-readable storage medium is provided, wherein a computer program is stored therein, the computer program including program instructions that, when executed by a processor, cause the processor to perform a method as described in the first aspect above and any possible implementation thereof.

[0057] In a sixth aspect, a computer program product is provided, the computer program product comprising a computer program or instructions, wherein, when the computer program or instructions are executed on a computer, the computer performs the method described in the first aspect and any possible implementation thereof.

[0058] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and are not intended to limit this application.

[0059] In this embodiment of the application, the puncture path planning device, after acquiring the image to be processed and the first transformation relationship, transforms the first position of the needle insertion point in the image to be processed according to the first transformation relationship to obtain the second position of the needle insertion point in the world coordinate system. Then, based on the third and second positions of the lesion target point in the world coordinate system, the first puncture path of the target organ can be obtained. Attached Figure Description

[0060] To more clearly illustrate the technical solutions in the embodiments of this application or the background art, the accompanying drawings used in the embodiments of this application or the background art will be described below.

[0061] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with this application and, together with the specification, serve to explain the technical solutions of this application.

[0062] Figure 1 A schematic flowchart of an image processing method provided in an embodiment of this application;

[0063] Figure 2 A schematic diagram showing that the actual puncture path of a robotic arm does not coincide with the second puncture path, as provided in an embodiment of this application;

[0064] Figure 3A schematic diagram showing the overlap between the actual puncture path and the second puncture path of a robotic arm, as provided in an embodiment of this application;

[0065] Figure 4 This is a schematic diagram of the structure of an image processing apparatus provided in an embodiment of this application;

[0066] Figure 5 This is a schematic diagram of the hardware structure of an electronic device provided in an embodiment of this application. Detailed Implementation

[0067] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present application.

[0068] The terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish different objects, not to describe a specific order. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or apparatus that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to these processes, methods, products, or apparatuses.

[0069] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0070] The execution subject of this application embodiment is a puncture path planning device, which can be any electronic device capable of executing the technical solutions disclosed in the method embodiments of this application. Optionally, the puncture path planning device can be one of the following: a computer or a server.

[0071] It should be understood that the method embodiments of this application can also be implemented by a processor executing computer program code. The embodiments of this application are described below with reference to the accompanying drawings. Please refer to... Figure 1 , Figure 1This is a flowchart illustrating a puncture path planning method provided in an embodiment of this application.

[0072] 101. Obtain the image to be processed and the first transformation relationship.

[0073] In this embodiment, the image to be processed includes the needle insertion point of the target organ, which is the skin needle insertion point during puncture surgery on the target organ. The target organ can be any organ, for example, the kidney, or the lung. In one possible implementation, the image to be processed is an ultrasound image, that is, an ultrasound image including the target organ.

[0074] In this embodiment, the first transformation relationship is the transformation relationship between the pixel coordinate system of the image to be processed and the world coordinate system. That is, the coordinates of any pixel in the image to be processed in the world coordinate system can be determined according to the first transformation relationship. For example, if the image to be processed includes pixel a, and the object point corresponding to pixel a in the real world is object point b, then the coordinates of object point b in the world coordinate system can be determined according to the first transformation relationship and the position of pixel a in the pixel coordinate system of the image to be processed.

[0075] Optionally, the first transformation relationship is the homography matrix between the pixel coordinate system and the world coordinate system of the image to be processed.

[0076] In one method of acquiring the image to be processed, the puncture path planning device has communication connections with both the ultrasound probe and the NDI optical positioning system. The puncture path planning device acquires image data collected by the ultrasound probe through its communication connection with the ultrasound probe, and obtains the real-time position of the ultrasound probe acquired by the NDI optical positioning system through its communication connection with the NDI optical positioning system. The puncture path planning device can then obtain an ultrasound image based on the acquired image data and the real-time position, which serves as the image to be processed. At this point, the image to be processed represents the real-time position of the ultrasound probe acquired by the NDI optical positioning system, i.e., the image of the position of the ultrasound probe in the world coordinate system.

[0077] In another implementation of acquiring the image to be processed, the puncture path planning device receives the image to be processed from the user through input components, wherein the input components include: mouse, keyboard, touch screen, touchpad, and audio input device.

[0078] In another implementation of acquiring the image to be processed, the puncture path planning device acquires the image to be processed by receiving the image to be processed sent by the terminal, wherein the terminal includes: mobile phone, computer, tablet computer, smart wearable device.

[0079] In one implementation of obtaining the first transformation relationship, the puncture path planning device receives the first transformation relationship input by the user through an input component.

[0080] In another implementation of obtaining the first transformation relationship, the puncture path planning device obtains the first transformation relationship by receiving the first transformation relationship sent by the terminal.

[0081] It should be understood that in the embodiments of this application, the steps of obtaining the image to be processed and obtaining the first transformation relationship by the puncture path planning device can be performed separately or simultaneously, and this application does not limit this.

[0082] 102. Based on the first transformation relationship described above, the first position of the needle insertion point in the image to be processed is transformed to obtain the second position of the needle insertion point in the world coordinate system described above.

[0083] In this embodiment, the first position is the position of the needle insertion point in the pixel coordinate system of the image to be processed. The puncture path planning device transforms the first position according to the first transformation relationship to obtain the position of the needle insertion point in the world coordinate system, which is the second position.

[0084] 103. Obtain the third position of the lesion target point of the above-mentioned target organ in the above-mentioned world coordinate system.

[0085] In this embodiment, the lesion target point is the target point of the puncture surgery. For example, if the target organ is the kidney, the lesion target point can be a point inside a kidney stone. The position of the lesion target point in the world coordinate system is the third position.

[0086] In one implementation of obtaining a third location, the puncture path planning device receives the third location input by the user through an input component.

[0087] In another implementation of obtaining the third position, the puncture path planning device receives the third position sent by the terminal.

[0088] 104. Based on the second and third positions mentioned above, the first puncture path of the target organ is obtained.

[0089] In this embodiment, the first puncture path is the puncture path for performing puncture surgery on the target organ. Specifically, the first puncture path is the puncture path in world coordinates. The second position is the starting position of the first puncture path, and the third position is the position that the first puncture path needs to pass through. Therefore, the puncture path planning device can plan the first puncture path of the target organ based on the second position and the third position.

[0090] In one possible implementation, the puncture path planning device uses the line connecting the second and third positions as the first puncture path.

[0091] In another possible implementation, the puncture path planning device determines a line segment starting from the second position and passing through the third position as the first puncture path, wherein the distance from the end point of the first puncture path to the third position is a first preset distance. The first puncture path obtained through this implementation passes through the third position, thus increasing the probability of hitting the target lesion during puncture surgery based on the first puncture path.

[0092] In this embodiment of the application, the puncture path planning device, after acquiring the image to be processed and the first transformation relationship, transforms the first position of the needle insertion point in the image to be processed according to the first transformation relationship to obtain the second position of the needle insertion point in the world coordinate system. Then, based on the third and second positions of the lesion target point in the world coordinate system, the first puncture path of the target organ can be obtained.

[0093] Based on the technical solutions provided above, this application also provides a possible application scenario. When a doctor performs a puncture procedure, the needle insertion point can usually be determined based on medical experience. Once the doctor has determined the needle insertion point, an ultrasound image including the insertion point can be obtained by scanning the point with an ultrasound probe. The puncture path planning device can then use this ultrasound image as the image to be processed to determine the first puncture path to the target organ.

[0094] As an optional implementation, after obtaining the first puncture path, the puncture path planning device further performs the following steps:

[0095] 201. Obtain the 3D CT image and the second transformation relationship.

[0096] In this embodiment, the 3D CT image includes a target organ; for example, if the target organ is a kidney, then the 3D CT image includes the kidney. The second transformation relationship is the transformation relationship between the pixel coordinate system of the 3D CT image and the world coordinate system. That is, the position of the coordinates in the world coordinate system in the 3D CT image can be determined according to the second transformation relationship. For example, if the 3D CT image includes pixels corresponding to a point d in the real world, then the position of the pixel corresponding to point d in the 3D CT image can be determined according to the second transformation relationship and the coordinates of point d in the world coordinate system. Optionally, the second transformation relationship is the homography matrix between the pixel coordinate system of the 3D CT image and the world coordinate system.

[0097] In one method of acquiring three-dimensional CT images, a puncture path planning device and a CT imaging device have a communication connection, and the puncture path planning device acquires the three-dimensional CT images collected by the CT imaging device through this communication connection.

[0098] In another implementation of acquiring 3D CT images, the puncture path planning device receives the 3D CT image input by the user through an input component.

[0099] In another method of acquiring three-dimensional CT images, the puncture path planning device receives the three-dimensional CT images sent by the receiving terminal.

[0100] In one implementation of obtaining the second transformation relationship, the puncture path planning device receives the second transformation relationship input by the user through an input component.

[0101] In another implementation of obtaining the second transformation relationship, the puncture path planning device obtains the second transformation relationship by receiving the second transformation relationship sent by the terminal.

[0102] It should be understood that in the embodiments of this application, the steps of acquiring three-dimensional CT images and acquiring the second transformation relationship by the puncture path planning device can be performed separately or simultaneously, and this application does not limit this.

[0103] 202. Based on the second conversion relationship described above, the second position is converted to obtain the fourth position of the needle insertion point in the three-dimensional CT image.

[0104] In this embodiment, the fourth position is the location of the needle insertion point in the 3D CT image, specifically the position of the needle insertion point in the pixel coordinate system of the 3D CT image. The puncture path planning device transforms the second position according to the second transformation relationship to obtain the position of the needle insertion point in the pixel coordinate system of the 3D CT image, which is the second position.

[0105] 203. Based on the second conversion relationship described above, the third position is converted to obtain the fifth position of the lesion target in the three-dimensional CT image.

[0106] In this embodiment, the fifth position is the location of the lesion target in the three-dimensional CT image, that is, the location of the lesion target in the pixel coordinate system of the three-dimensional CT image. The puncture path planning device transforms the third position according to the second transformation relationship to obtain the location of the lesion target in the pixel coordinate system of the three-dimensional CT image, which is the fifth position.

[0107] 204. Based on the fourth and fifth positions mentioned above, the second puncture path of the target organ in the three-dimensional CT image is obtained.

[0108] In this embodiment, the second puncture path is the puncture path for performing puncture surgery on the target organ. Specifically, the second puncture path is the puncture path in the three-dimensional CT image. The fourth position is the starting position of the second puncture path, and the fifth position is the position that the second puncture path needs to pass through. Therefore, the puncture path planning device can plan the second puncture path of the target organ based on the fourth and fifth positions.

[0109] In one possible implementation, the puncture path planning device uses the line connecting the fourth and fifth positions as the second puncture path.

[0110] In another possible implementation, the puncture path planning device determines a line segment starting from the fourth position and passing through the fifth position as the second puncture path, wherein the distance from the end point of the second puncture path to the fifth position is a second preset distance. The second puncture path obtained through this implementation passes through the fifth position, thus increasing the probability of hitting the target lesion during puncture surgery.

[0111] In this embodiment, the puncture path planning device, upon acquiring a three-dimensional CT image and a second conversion relationship, converts the second position according to the second conversion relationship to obtain the fourth position of the needle insertion point in the three-dimensional CT image. It can also convert the third position according to the second conversion relationship to obtain the fifth position of the lesion target point in the three-dimensional CT image. Therefore, based on the fourth and fifth positions, the second puncture path of the target organ in the three-dimensional CT image can be obtained. This allows the doctor to observe the second puncture path based on the three-dimensional CT image, thus facilitating the puncture surgery.

[0112] As an optional implementation, the puncture path planning device obtains the second transformation relationship by performing the following steps:

[0113] 301. Acquire three-dimensional ultrasound images.

[0114] In this embodiment, the three-dimensional ultrasound image includes the target organ; for example, if the target organ is the kidney, then the three-dimensional ultrasound image includes the kidney. The pixel coordinate system of the three-dimensional ultrasound image is the same as the world coordinate system. That is, the position of the target organ in the three-dimensional ultrasound direction is the same as the position of the target organ in the world coordinate system.

[0115] In one method of acquiring three-dimensional ultrasound images, a puncture path planning device and an ultrasound probe are connected via a communication link. The puncture path planning device acquires the three-dimensional ultrasound images obtained by the ultrasound probe through this communication link. For example, a doctor obtains three-dimensional ultrasound images by scanning the surgical environment using an ultrasound probe.

[0116] In another implementation of acquiring three-dimensional ultrasound images, the puncture path planning device receives three-dimensional ultrasound images input by the user through an input component.

[0117] In another implementation of acquiring the image to be processed, the puncture path planning device receives a three-dimensional ultrasound image sent by a receiving terminal.

[0118] 302. By aligning the target organ in the above-mentioned three-dimensional CT image with the target organ in the above-mentioned three-dimensional ultrasound image, the above-mentioned second transformation relationship is obtained.

[0119] Since the position of the target organ in the 3D ultrasound image is the same as its position in the world coordinate system, by aligning the target organ in the 3D CT image with the target organ in the 3D ultrasound image, the transformation relationship between the pixel coordinate system of the 3D CT image and the world coordinate system can be obtained.

[0120] In one possible implementation, the puncture path planning device aligns the target organ in the 3D CT image to the target organ in the 3D ultrasound image by performing image registration between the 3D CT image and the 3D ultrasound image, thereby obtaining a second transformation relationship.

[0121] In this embodiment, when acquiring a three-dimensional ultrasound image, the puncture path planning device obtains a second transformation relationship by aligning the target organ in the three-dimensional CT image with the target organ in the three-dimensional ultrasound image. Furthermore, since the second transformation relationship is obtained by aligning the target organ, the accuracy of the subsequent second puncture path determined based on the second transformation relationship can be improved.

[0122] As an optional implementation, the cross-sectional image of the 3D CT image includes the target CT image, that is, the target CT image is any cross-sectional image in the 3D CT image. After obtaining the second puncture path of the target organ in the 3D CT image, the puncture path planning device further performs the following steps:

[0123] 401. Determine the trajectory points of the second puncture path in the target CT image.

[0124] In this embodiment, the trajectory point in the target CT image is the intersection of the second puncture path and the target CT image.

[0125] 402. Display the above trajectory points and the above lesion target points in the above target CT image.

[0126] In one possible implementation, the puncture path planning device determines the projection of the lesion target in the target CT image based on the fifth position of the lesion target in the three-dimensional CT image, and uses it as the lesion target in the target CT image.

[0127] In this embodiment, the puncture path planning device, after determining the trajectory point of the second puncture path in the target CT image and the lesion target point in the target CT image, facilitates the doctor to determine the second puncture path by viewing the target CT image by displaying the trajectory point and the lesion target point in the target CT image.

[0128] As an optional implementation, the puncture path planning device further performs the following steps before performing step 101:

[0129] 501. Obtain the second puncture path and needle insertion area of ​​the target organ.

[0130] In this embodiment, the needle-accessible area is a candidate area for the needle insertion point, meaning the needle insertion point can be determined within this candidate area. In one possible implementation, the target organ belongs to the target person; for example, if the target organ is Zhang San's kidney, then the target person is Zhang San. The puncture path planning device has a communication connection with the ultrasound probe, and through this communication connection, the puncture path planning device obtains the skin area of ​​the target person scanned by the ultrasound probe, which serves as the needle-accessible area.

[0131] For example, a doctor can observe the skin area on the back of a target person to determine the target area where a needle can be inserted. Then, an ultrasound probe can be used to scan the target area. In this way, the puncture path planning device will identify the target area as the area where the needle can be inserted when the ultrasound probe scans the target area.

[0132] After completing step 501, the puncture path planning device, upon determining that the third puncture path is an infeasible path based on the needle insertion area, acquires the image to be processed and the first transformation relationship.

[0133] In this embodiment, the third puncture path is designated as an infeasible path, indicating that performing a puncture procedure along this path may traverse areas that cannot be punctured. These infeasible areas include blood vessels, ribs, and intestinal segments. For example, if the third puncture path traverses a blood vessel, it is determined to be an infeasible path.

[0134] In one possible implementation, the puncture path planning device determines the third puncture path as an infeasible path if there is no intersection between the third puncture path and the needle insertion area.

[0135] In another possible implementation, the puncture path planning device determines the third puncture path as an infeasible path if the needle entry point of the third puncture path does not belong to the needle entry area.

[0136] In this embodiment, the puncture path planning device acquires the third puncture path and the needle-accessible area of ​​the target organ. If the third puncture path is determined to be an infeasible path based on the needle-accessible area, the device acquires the image to be processed and the first transformation relationship. Then, based on the image to be processed and the first transformation relationship, the device redetermines the puncture path for the target organ, namely the first puncture path.

[0137] As an optional implementation, the puncture path planning device acquires the image to be processed by performing the following steps:

[0138] 601. Upon detecting an instruction to replan the puncture path of the target organ, an ultrasound image obtained by scanning the puncture point with an ultrasound probe is acquired as the image to be processed.

[0139] In this embodiment, the instruction to replan the puncture path of the target organ is used to instruct the puncture path planning device to replan the puncture path for the target organ. In one possible implementation, the user inputs the instruction to replan the puncture path of the target organ into the puncture path planning device via an input component, such as clicking a button to replan the target organ on a touchscreen. Alternatively, if the puncture path planning device determines that a third puncture path is infeasible, it inputs a selection box indicating that the third puncture path is infeasible and whether to replan the puncture path for the target organ. The user can then input the instruction to replan the puncture path of the target organ into the puncture path planning device by selecting "replan puncture path".

[0140] In this step, the puncture path planning device has communication connections with both the ultrasound probe and the NDI optical positioning system. The device acquires image data from the ultrasound probe via its communication connection with the probe, and obtains the real-time position of the ultrasound probe from the NDI optical positioning system via its communication connection with the NDI optical positioning system. The device then generates an ultrasound image based on the acquired image data and real-time position. This ultrasound image represents the real-time position of the ultrasound probe, acquired by the NDI optical positioning system, i.e., the position of the ultrasound probe in the world coordinate system. Since this ultrasound image includes the needle insertion point, it is used as the image to be processed, and the puncture path can be replanned for the target organ based on the needle insertion point in the image.

[0141] In one possible application scenario, when a doctor determines that the third puncture path is not feasible, they can determine the needle entry point based on experience, use an ultrasound probe to scan the needle entry point to obtain an image to be processed, and then replan the puncture path for the target organ.

[0142] As an optional implementation, after obtaining the first puncture path to the target organ, the puncture path planning device further performs the following steps:

[0143] 701. When the first puncture path is used as the guiding path for puncturing the target organ, the fourth puncture path of the puncture robot is obtained.

[0144] The first puncture path serves as a guiding path for puncturing the target organ; that is, the target organ is punctured according to the first puncture path. In one possible implementation, after obtaining the first puncture path to the target organ, the puncture path planning device displays the first puncture path, allowing the physician to puncture the target organ according to it. In other words, the first puncture path serves as a guiding path for puncturing the target organ.

[0145] In this embodiment, the puncture robot is a medical robot used for minimally invasive surgery. The puncture robot includes a robotic arm that drives the puncture device. By adjusting the angle of the robotic arm, the puncture path of the puncture robot can be changed; specifically, the puncture path is a fourth puncture path.

[0146] 702. Determine the degree of overlap between the first puncture path and the fourth puncture path.

[0147] The puncture path planning device determines the accuracy of the puncture path of the puncture robot by determining the degree of overlap between the first and fourth puncture paths. Optionally, the puncture path planning device displays the degree of overlap between the first and fourth puncture paths, allowing the doctor to adjust the angle of the robotic arm to make the fourth puncture path coincide with the first puncture path, thereby improving the effectiveness of subsequent puncture of the target organ based on the fourth puncture path.

[0148] Based on the technical solution provided in the embodiments of this application, this application also provides a possible application scenario. The puncture path planning device first acquires plain CT images and enhanced CT images of the kidneys of the target person. The enhanced CT images can be one of the following: cortical phase CT images or excretory phase CT images. The plain CT images and enhanced CT images of the kidneys can be obtained by scanning the target object using a CT imaging device.

[0149] The puncture path planning device reconstructs a three-dimensional CT image of the kidney based on plain and enhanced CT images. The device displays the three-dimensional CT image and its cross-sectional view, allowing the physician to plan the puncture path within the cross-sectional image. This puncture path is the aforementioned third puncture path.

[0150] During a biopsy, the doctor uses an ultrasound probe to scan the kidneys, obtaining ultrasound images of the kidneys. Optionally, while the doctor is scanning the kidneys with the ultrasound probe, the patient's breathing rate should be kept as slow and stable as possible. This reduces spatial positional fluctuations caused by breathing, thereby improving the accuracy of the kidney's location in the ultrasound image.

[0151] During the acquisition of ultrasound images of the kidney by the ultrasound probe, a puncture path planning device, combined with an optical tracking system, locates the kidney's position in the world coordinate system within the ultrasound image. The optical tracking system determines the position of the object scanned by the ultrasound probe in the world coordinate system. The puncture path planning device segments the kidney ultrasound image to extract the kidney contour image. Based on the position of the kidney contour image within the kidney image and the kidney's position in the world coordinate system, the transformation relationship between the pixel coordinate system of the kidney ultrasound image and the world coordinate system can be obtained (i.e., the first transformation relationship mentioned above).

[0152] After segmenting the kidney contour image from the kidney ultrasound image, a three-dimensional ultrasound image of the kidney can be reconstructed based on the kidney contour image. By registering the three-dimensional ultrasound image of the kidney with the three-dimensional CT image of the kidney, a registration matrix (i.e., the inverse matrix of the second transformation relationship mentioned above) can be determined to align the kidney in the three-dimensional CT image to the kidney in the three-dimensional ultrasound image of the kidney. Optionally, the second transformation relationship includes rotation transformation and translation transformation.

[0153] Optionally, by registering the three-dimensional ultrasound image of the kidney with the three-dimensional CT image of the kidney, if the similarity between the kidney in the three-dimensional CT image and the kidney in the three-dimensional ultrasound image of the kidney exceeds 90%, a second transformation relationship is determined based on the rotation and translation of the three-dimensional CT image of the kidney.

[0154] During a puncture procedure, the doctor moves an ultrasound probe within the target's needle-accessible area. At this time, the puncture path planning device determines whether a third puncture path is infeasible based on the needle-accessible area scanned by the ultrasound probe. Specifically, if the third puncture path does not intersect with the needle-accessible area, it is determined to be an infeasible path; if it intersects with the needle-accessible area, it is determined to be a feasible path.

[0155] If the third puncture path is determined to be infeasible, it means that a new puncture path needs to be planned for the target person's kidney. The doctor uses an ultrasound probe to scan the needle-accessible area of ​​the target person, and the puncture path planning device then uses the ultrasound images acquired by the ultrasound probe during the scanning of the needle-accessible area as images to be processed. The puncture path planning device can then, based on the technical solution provided above, the images to be processed, and the first conversion relationship, plan a new puncture path for the target person's kidney (i.e., the aforementioned first puncture path and the aforementioned fall puncture path).

[0156] Specifically, the location of the point in the image to be processed that will contact the ultrasonic probe within the needle insertion area is determined; this location is the first location mentioned above. Then, the first location is transformed according to the ultrasonic flaw detection (NDI) identification matrix of the ultrasonic probe to obtain the second location, where the NDI identification matrix is ​​the first transformation relationship mentioned above. Optionally, the NDI identification matrix is ​​as follows:

[0157]

[0158] Let the second position be denoted as A(Tx,Ty,Tz), and the above registration matrix be denoted as T. reg Then the second transformation relation is T reg The inverse matrix is:

[0159]

[0160] Based on the second transformation relationship and the second position, the fourth position can be obtained, which is the location of the needle insertion point in the three-dimensional CT image of the kidney. Specifically, it can be achieved through the following formula:

[0161]

[0162] At this point, the fourth position is denoted as A. ct (x ct y ct , z ct ).

[0163] Based on the fourth position and the position of the renal lesion target point in the three-dimensional CT image of the kidney (i.e., the fifth position mentioned above), the puncture path in the three-dimensional CT image of the kidney is determined, which is the second puncture path mentioned above. After obtaining the second puncture path, the trajectory points of the second puncture path in the cross-sectional view of the three-dimensional CT image of the kidney can also be used to display the trajectory points and the lesion target point in the three-dimensional CT image of the kidney.

[0164] By observing the three-dimensional CT images of the kidney, the doctor can adjust the angle of the robotic arm of the puncture robot, thereby making the actual puncture path of the robotic arm (i.e., the fourth puncture path mentioned above) coincide with the second puncture path.

[0165] Optional, Figure 2 This illustrates a situation where the actual puncture path of the robotic arm does not coincide with the second puncture path, such as... Figure 2 As shown, the position of the ultrasound probe coincides with the second puncture path, indicating that the actual puncture path of the robotic arm does not coincide with the second puncture path. Figure 2 It also shows the world coordinate system (i.e. Figure 2The relationship between the xyz coordinate system and the target person's position, as well as the prompt message, is as follows: Registration complete. If you need to verify the registration, please maintain the breathing phase at the time of reconstruction and stop the ventilator. This prompt message provides the prompt operation for verifying the above registration matrix.

[0166] Figure 2 The concentric circles in the upper right corner show a schematic diagram of the rotation angle of the ultrasound probe. Below the concentric circles, the following information is also shown: distance between the rotation point and the path: 0mm, distance between the needle tail and the path: 0mm, angle between the needle and the path: 0°, distance between the robotic arm and the target point: 0mm. The ultrasound probe can rotate around the rotation point, the needle tail is the tail of the needle used for puncture, the path is the second path mentioned above, and the target point is the lesion target point in the kidney (such as the target point of kidney stones).

[0167] Figure 3 It is shown that, in Figure 2 Based on this, by adjusting the angle of the ultrasound probe to make the ultrasound probe coincide with the second path, the actual puncture path of the robotic arm coincides with the second puncture path.

[0168] Those skilled in the art will understand that, in the above-described method of the specific implementation, the order in which each step is written does not imply a strict execution order and does not constitute any limitation on the implementation process. The specific execution order of each step should be determined by its function and possible internal logic.

[0169] If the technical solution of this application involves personal information, the product using this technical solution has clearly informed the user of the personal information processing rules and obtained the user's voluntary consent before processing the personal information. If the technical solution of this application involves sensitive personal information, the product using this technical solution has obtained the user's separate consent before processing the sensitive personal information, and also meets the requirement of "express consent". For example, at personal information collection devices such as cameras, clear and prominent signs are set up to inform users that they have entered the scope of personal information collection and that personal information will be collected. If an individual voluntarily enters the collection scope, it is deemed that they have agreed to the collection of their personal information; or on the personal information processing device, while using clear signs / information to inform users of the personal information processing rules, authorization is obtained from the individual through pop-up information or by asking the individual to upload their personal information; wherein, personal information processing may include information such as the personal information processor, the purpose of personal information processing, the processing method, and the types of personal information processed.

[0170] The methods of the embodiments of this application have been described in detail above, and the apparatus of the embodiments of this application is provided below.

[0171] Please see Figure 4 , Figure 4This is a schematic diagram of a puncture path planning device provided in an embodiment of this application. The puncture path planning device 1 is used to plan a first puncture path for a target organ. The puncture path planning device 1 includes: an acquisition unit 11, a conversion unit 12, and a processing unit 13. Optionally, the puncture path planning device 1 further includes: a determination unit 14 and a display unit 15. Specifically:

[0172] The acquisition unit 11 is used to acquire the image to be processed and the first transformation relationship; the image to be processed includes the needle insertion point of the target organ, and the first transformation relationship is the transformation relationship between the pixel coordinate system and the world coordinate system of the image to be processed;

[0173] The conversion unit 12 is used to convert the first position of the needle insertion point in the image to be processed according to the first conversion relationship to obtain the second position of the needle insertion point in the world coordinate system.

[0174] The acquisition unit 11 is used to acquire the third position of the lesion target point of the target organ in the world coordinate system;

[0175] The processing unit is configured to obtain a first puncture path for the target organ based on the second position and the third position.

[0176] In any embodiment of this application, the acquisition unit 11 is further configured to acquire a three-dimensional CT image and a second transformation relationship, wherein the three-dimensional CT image includes the target organ, and the second transformation relationship is the transformation relationship between the pixel coordinate system of the three-dimensional CT image and the world coordinate system;

[0177] The conversion unit 12 is further configured to convert the second position according to the second conversion relationship to obtain the fourth position of the needle insertion point in the three-dimensional CT image;

[0178] The conversion unit 12 is further configured to convert the third position according to the second conversion relationship to obtain the fifth position of the lesion target in the three-dimensional CT image;

[0179] The processing unit is further configured to obtain a second puncture path of the target organ in the three-dimensional CT image based on the fourth position and the fifth position.

[0180] In conjunction with any embodiment of this application, the acquisition unit 11 is specifically used for:

[0181] Acquire a three-dimensional ultrasound image, the three-dimensional ultrasound image including the target organ, the pixel coordinate system of the three-dimensional ultrasound image being the same as the world coordinate system;

[0182] The second transformation relationship is obtained by aligning the target organ in the three-dimensional CT image to the target organ in the three-dimensional ultrasound image.

[0183] In any embodiment of this application, the cross-sectional image of the three-dimensional CT image includes the target CT image, and the puncture path planning device 1 further includes:

[0184] Determining unit 14 is used to determine the trajectory points of the second puncture path in the target CT image;

[0185] Display unit 15 is used to display the trajectory points and the lesion target points in the target CT image.

[0186] In conjunction with any embodiment of this application, the acquisition unit 11 is further configured to:

[0187] Obtain the third puncture path and needle insertion area of ​​the target organ, wherein the needle insertion area is a candidate area for the needle insertion point;

[0188] If the third puncture path is determined to be an infeasible path based on the needle insertion area, the image to be processed and the first conversion relationship are obtained.

[0189] In conjunction with any embodiment of this application, the acquisition unit 11 is specifically used for:

[0190] If the third puncture path does not intersect with the needle insertion area, the third puncture path is determined to be an infeasible path.

[0191] In conjunction with any embodiment of this application, the acquisition unit 11 is specifically used for:

[0192] Upon detecting an instruction to replan the puncture path of the target organ, an ultrasound image obtained by scanning the puncture point with an ultrasound probe is acquired as the image to be processed.

[0193] In any embodiment of this application, the target organ belongs to the target person; the acquisition unit 11 is specifically used for:

[0194] The skin area of ​​the target person scanned by the ultrasound probe is used as the needle insertion area.

[0195] In this embodiment of the application, the puncture path planning device, after acquiring the image to be processed and the first transformation relationship, transforms the first position of the needle insertion point in the image to be processed according to the first transformation relationship to obtain the second position of the needle insertion point in the world coordinate system. Then, based on the third and second positions of the lesion target point in the world coordinate system, the first puncture path of the target organ can be obtained.

[0196] In some embodiments, the functions or modules of the apparatus provided in this application can be used to perform the methods described in the above method embodiments. The specific implementation can be referred to the description of the above method embodiments, and for the sake of brevity, it will not be repeated here.

[0197] Figure 5 This is a schematic diagram of the hardware structure of an electronic device provided in an embodiment of this application. The electronic device 2 includes a processor 21 and a memory 22. Optionally, the electronic device 2 also includes an input device 23 and an output device 24. The processor 21, memory 22, input device 23, and output device 24 are coupled together via connectors, which include various interfaces, transmission lines, or buses, etc., and are not limited in this embodiment. It should be understood that in the various embodiments of this application, coupling refers to mutual connection in a specific way, including direct connection or indirect connection through other devices, such as through various interfaces, transmission lines, buses, etc.

[0198] Processor 21 can be one or more graphics processing units (GPUs). If processor 21 is a GPU, the GPU can be a single-core GPU or a multi-core GPU. Optionally, processor 21 can be a processor group composed of multiple GPUs, with the multiple processors coupled to each other via one or more buses. Optionally, the processor can also be other types of processors, etc., which are not limited in this embodiment.

[0199] The memory 22 can be used to store computer program instructions, as well as various types of computer program code, including program code for executing the scheme of this application. Optionally, the memory includes, but is not limited to, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM), or compact disc read-only memory (CD-ROM), which is used for related instructions and data.

[0200] Input device 23 is used to input data and / or signals, and output device 24 is used to output data and / or signals. Input device 23 and output device 24 can be independent devices or an integrated device.

[0201] It is understood that in this embodiment of the application, the memory 22 can be used not only to store related instructions, but also to store related data. This embodiment of the application does not limit the specific data stored in the memory.

[0202] Understandable, Figure 5 This is merely a simplified design of an electronic device. In practical applications, the electronic device may also include other necessary components, including, but not limited to, any number of input / output devices, processors, memories, etc., and all electronic devices that can implement the embodiments of this application are within the protection scope of this application.

[0203] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0204] Those skilled in the art will readily understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here. Those skilled in the art will also readily understand that the various embodiments of this application have different focuses, and for the sake of convenience and brevity, the same or similar parts may not be repeated in different embodiments. Therefore, parts not described or not described in detail in one embodiment can be referred to the descriptions in other embodiments.

[0205] In the several embodiments provided in this application, it should be understood that the disclosed systems, apparatuses, and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or units may be electrical, mechanical, or other forms.

[0206] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0207] In addition, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

[0208] In the above embodiments, implementation can be achieved entirely or partially through software, hardware, firmware, or any combination thereof. When implemented using software, it can be implemented entirely or partially as a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, all or part of the processes or functions described in the embodiments of this application are generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transmitted through the computer-readable storage medium. The computer instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via wired (e.g., coaxial cable, fiber optic, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server or data center that integrates one or more available media. The available media may be magnetic media (e.g., floppy disks, hard disks, magnetic tapes), optical media (e.g., digital versatile discs (DVDs)), or semiconductor media (e.g., solid-state disks (SSDs)).

[0209] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. This program can be stored in a computer-readable storage medium, and when executed, it can include the processes described in the above method embodiments. The aforementioned storage medium includes various media capable of storing program code, such as read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

Claims

1. A puncture path planning method characterized by, The puncture path planning method is used for planning a first puncture path for a target organ, and the method comprises the following steps: Obtaining a to-be-processed image and a first conversion relationship; the to-be-processed image comprises a needle insertion point of the target organ, and the first conversion relationship is a conversion relationship between a pixel coordinate system of the to-be-processed image and a world coordinate system; the to-be-processed image is an ultrasound image obtained by a doctor using an ultrasound probe to scan the needle insertion point; Converting a first position of the needle insertion point in the to-be-processed image according to the first conversion relationship, to obtain a second position of the needle insertion point in the world coordinate system; Obtaining a third position of a lesion target point of the target organ in the world coordinate system; the obtaining of the third position of the lesion target point of the target organ in the world coordinate system comprises receiving a third position input by a user through an input component; Obtaining a first puncture path of the target organ according to the second position and the third position; the first puncture path is a puncture path in the world coordinate system; Obtaining a three-dimensional CT image and a second conversion relationship; the three-dimensional CT image comprises the target organ, and the second conversion relationship is a conversion relationship between a pixel coordinate system of the three-dimensional CT image and the world coordinate system; Converting the second position according to the second conversion relationship, to obtain a fourth position of the needle insertion point in the three-dimensional CT image; Converting the third position according to the second conversion relationship, to obtain a fifth position of the lesion target point in the three-dimensional CT image; Obtaining a second puncture path of the target organ in the three-dimensional CT image according to the fourth position and the fifth position; the second puncture path in the three-dimensional CT image is used for observation by the doctor.

2. The method of claim 1, wherein, The obtaining of the second conversion relationship comprises the following steps: Obtaining a three-dimensional ultrasound image; the three-dimensional ultrasound image comprises the target organ, and a pixel coordinate system of the three-dimensional ultrasound image is the same as a world coordinate system; Aligning the target organ in the three-dimensional CT image with the target organ in the three-dimensional ultrasound image, to obtain the second conversion relationship.

3. The method according to claim 1 or 2, characterized in that, The sectional image of the three-dimensional CT image comprises a target CT image; after the second puncture path of the target organ in the three-dimensional CT image is obtained, the method further comprises the following steps: Determining a trajectory point of the second puncture path in the target CT image; Displaying the trajectory point and the lesion target point in the target CT image.

4. The method according to claim 1 or 2, characterized in that, Before the obtaining of the to-be-processed image and the first conversion relationship, the method further comprises the following steps: Obtaining a third puncture path of the target organ and a needle insertion area; the needle insertion area is a candidate area of the needle insertion point; The obtaining of the to-be-processed image and the first conversion relationship comprises the following steps: In a case where it is determined that the third puncture path is an unfeasible path according to the needle insertion area, the to-be-processed image and the first conversion relationship are obtained.

5. The method of claim 4, wherein, The determination that the third puncture path is an unfeasible path according to the needle insertion area comprises the following steps: In a case where there is no intersection between the third puncture path and the needle insertion area, it is determined that the third puncture path is an unfeasible path.

6. The method of claim 4, wherein, The obtaining the to-be-processed image comprises: In a case where it is detected that an instruction of replanning a puncture path of the target organ is detected, an ultrasound image obtained by scanning the needle entry point by an ultrasound probe is obtained as the to-be-processed image.

7. A puncture path planning device characterized by comprising: The puncture path planning apparatus is used for planning a first puncture path for a target organ, and comprises: An obtaining unit is configured to obtain a to-be-processed image and a first conversion relationship, wherein the to-be-processed image comprises a needle entry point of the target organ, and the first conversion relationship is a conversion relationship between a pixel coordinate system of the to-be-processed image and a world coordinate system, and the to-be-processed image is an ultrasound image obtained by scanning the needle entry point by a doctor using an ultrasound probe; A converting unit is configured to convert a first position of the needle entry point in the to-be-processed image according to the first conversion relationship, to obtain a second position of the needle entry point in the world coordinate system. The obtaining unit is configured to obtain a third position of a lesion target point of the target organ in the world coordinate system, and the obtaining of the third position of the lesion target point of the target organ in the world coordinate system comprises receiving a third position input by a user through an input component; A processing unit is configured to obtain a first puncture path of the target organ according to the second position and the third position, and the first puncture path is a puncture path in the world coordinate system. The obtaining unit is further configured to obtain a three-dimensional CT image and a second conversion relationship, wherein the three-dimensional CT image comprises the target organ, and the second conversion relationship is a conversion relationship between a pixel coordinate system of the three-dimensional CT image and the world coordinate system. The processing unit is further configured to convert the second position according to the second conversion relationship, to obtain a fourth position of the needle entry point in the three-dimensional CT image. The processing unit is further configured to convert the third position according to the second conversion relationship, to obtain a fifth position of the lesion target point in the three-dimensional CT image. The processing unit is further configured to obtain a second puncture path of the target organ in the three-dimensional CT image according to the fourth position and the fifth position, and the second puncture path in the three-dimensional CT image is used for observation by the doctor.

8. An electronic device, comprising: Comprise: A processor and a memory, the memory is used for storing computer program code, the computer program code comprises computer instructions, in a case where the processor executes the computer instructions, the electronic device executes the method as claimed in any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that, The computer readable storage medium stores a computer program, and the computer program comprises program instructions, in a case where the program instructions are executed by a processor, the processor executes the method as claimed in any one of claims 1 to 6.

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